arduino避障小车代码

以下是一个简单的Arduino避障小车代码：

//定义电机引脚
const int leftMotorA = 3;
const int leftMotorB = 5;
const int rightMotorA = 6;
const int rightMotorB = 9;

//定义超声波引脚
const int trigPin = 13;
const int echoPin = 12;

//定义超声波参数
long duration;
int distance;

void setup() {
  //设置电机引脚为输出
  pinMode(leftMotorA, OUTPUT);
  pinMode(leftMotorB, OUTPUT);
  pinMode(rightMotorA, OUTPUT);
  pinMode(rightMotorB, OUTPUT);

  //设置超声波引脚为输入
  pinMode(trigPin, OUTPUT);
  pinMode(echoPin, INPUT);

  //设置串口通信
  Serial.begin(9600);
}

void loop() {
  //测量距离
  digitalWrite(trigPin, LOW);
  delayMicroseconds(2);
  digitalWrite(trigPin, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPin, LOW);
  duration = pulseIn(echoPin, HIGH);
  distance = duration/58.2;

  //输出距离
  Serial.print("Distance: ");
  Serial.print(distance);
  Serial.println(" cm");

  //根据距离控制小车运动
  if(distance > 20) {
    forward();
  }
  else {
    backward();
    delay(1000);
    turnRight();
    delay(1000);
  }
}

//向前
void forward() {
  digitalWrite(leftMotorA, HIGH);
  digitalWrite(leftMotorB, LOW);
  digitalWrite(rightMotorA, HIGH);
  digitalWrite(rightMotorB, LOW);
}

//向后
void backward() {
  digitalWrite(leftMotorA, LOW);
  digitalWrite(leftMotorB, HIGH);
  digitalWrite(rightMotorA, LOW);
  digitalWrite(rightMotorB, HIGH);
}

//向左转
void turnLeft() {
  digitalWrite(leftMotorA, LOW);
  digitalWrite(leftMotorB, HIGH);
  digitalWrite(rightMotorA, HIGH);
  digitalWrite(rightMotorB, LOW);
}

//向右转
void turnRight() {
  digitalWrite(leftMotorA, HIGH);
  digitalWrite(leftMotorB, LOW);
  digitalWrite(rightMotorA, LOW);
  digitalWrite(rightMotorB, HIGH);
}

这个代码使用超声波模块测量距离，根据距离控制小车的运动。如果距离大于20厘米，小车向前行驶。如果距离小于等于20厘米，小车后退一秒钟，然后向右转一秒钟。你可以根据具体情况修改距离和转向时间。